Robust control of robot manipulators: A survey

Sage, H. G.; Mathelin, M.F. de; Ostertag, E.

doi:10.1080/002071799220137

Cited by 238 publications

(146 citation statements)

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“…Control of multi-link systems is mathematically complicated by dynamic coupling among segments, which introduce torques at the remote joints in response to motion of any segment (Lacquaniti & Soechting, 1986;Sage, De Mathelin & Ostertag, 1999). For kinematically redundant multi-link systems, maintaining the position of the endpoint does not fully constrain the configuration of the joints and this absence of a one-toone relationship between the control goal of endpoint position and the system state variables further complicates the control problem (Patel & Shadpey, 2005).…”

Section: Introductionmentioning

confidence: 99%

Asymmetric interjoint feedback contributes to postural control of redundant multi-link systems

2007

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Maintaining the postural configuration of a limb such as an arm or leg is a fundamental neural control task that involves the coordination of multiple linked body segments. Biological systems are known to use a complex network of inter-and intra-joint feedback mechanisms arising from muscles, spinal reflexes, and higher neuronal structures to stabilize the limbs. While previous work has shown that a small amount of asymmetric heterogenic feedback contributes to the behavior of these systems, a satisfactory functional explanation for this nonconservative feedback structure has not been put forth. We hypothesized that an asymmetric multi-joint control strategy would confer both an energetic and stability advantage in maintaining endpoint position of a kinematically redundant system. We tested this hypothesis by using optimal control models incorporating symmetric versus asymmetric feedback with the goal of maintaining the endpoint location of a kinematically redundant, planar limb. Asymmetric feedback improved endpoint control performance of the limb by 16%, reduced energetic cost by 21% and increased interjoint coordination by 40% compared to the symmetric feedback system. The overall effect of the asymmetry was that proximal joint motion resulted in greater torque generation at distal joints than vice versa. The asymmetric organization is consistent with heterogenic stretch reflex gains measured experimentally. We conclude that asymmetric feedback has a functionally relevant role in coordinating redundant degrees of freedom to maintain the position of the hand or foot.

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Section: Introductionmentioning

confidence: 99%

Asymmetric interjoint feedback contributes to postural control of redundant multi-link systems

2007

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“…The main objective of this work is to compare the robustness of four types of combined controllers when the underactuated system is subject to torque disturbances (combined controller means computed torque plus robust controller). Even for the control of totally actuated robot, Sage et al (1999) states that the robustness of these combined controllers has not been tested in practice.…”

Section: Introductionmentioning

confidence: 99%

Underactuated manipulator robot control via H2, H∞, H2/H∞, and µ-synthesis approaches: a comparative study

Siqueira¹,

Terra²,

Ishihara³

et al. 2009

J. Braz. Soc. Mech. Sci. & Eng.

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“…Especially, system uncertainties were not considered in literature [25]. As the survey papers [26,27] claimed, the uncertainties are frequently encountered in robotic systems, which must be coped with by some techniques to guarantee performance in terms of tracking accuracy.…”

Section: Introductionmentioning

confidence: 99%

“…In robot robust controller design, it is often to make an assumption that the dynamics of robot system is known partially. This technique has been successfully used in many robot robust control literatures such as [2,23,24,26,27,34].…”

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confidence: 99%